1. The JAviator Flight Control System
Rainer Trummer
Computer Sciences Workshop ‘09
Department of Computer Sciences
University of Salzburg, Austria

2. Introduction
The JAviator Quadrotor
Quadrotor Dynamics
Thrust Dynamics
Altitude Control
Improvements
Videos

3. The JAviator Quadrotor

4. The JAviator Quadrotor

5. The JAviator Quadrotor
Total diameter (over spinning rotors): 1.3 m
Empty weight (including electronics): 2.2 kg
Max lift capacity (flyable with 4.4kg): 5.6 kg

6. Quadrotor Dynamics: Basics

7. Quadrotor Dynamics: Basics

8. Quadrotor Dynamics: Basics

9. Quadrotor Dynamics: Altitude

10. Quadrotor Dynamics: Altitude

11. Quadrotor Dynamics: Altitude

12. Quadrotor Dynamics: Altitude

13. Quadrotor Dynamics: Altitude

14. Quadrotor Dynamics: Altitude

15. Quadrotor Dynamics: Roll

16. Quadrotor Dynamics: Roll

17. Quadrotor Dynamics: Roll

18. Quadrotor Dynamics: Roll

19. Quadrotor Dynamics: Roll

20. Quadrotor Dynamics: Roll

21. Quadrotor Dynamics: Roll

22. Quadrotor Dynamics: Roll

23. Quadrotor Dynamics: Roll

24. Quadrotor Dynamics: Roll

25. Quadrotor Dynamics: Roll

26. Quadrotor Dynamics: Roll

27. Quadrotor Dynamics: Roll

28. Quadrotor Dynamics: Pitch

29. Quadrotor Dynamics: Pitch

30. Quadrotor Dynamics: Pitch

31. Quadrotor Dynamics: Pitch

32. Quadrotor Dynamics: Pitch

33. Quadrotor Dynamics: Pitch

34. Quadrotor Dynamics: Pitch

35. Quadrotor Dynamics: Pitch

36. Quadrotor Dynamics: Pitch

37. Quadrotor Dynamics: Pitch

38. Quadrotor Dynamics: Pitch

39. Quadrotor Dynamics: Pitch

40. Quadrotor Dynamics: Pitch

41. Quadrotor Dynamics: Yaw

42. Quadrotor Dynamics: Yaw

43. Quadrotor Dynamics: Yaw

44. Quadrotor Dynamics: Yaw

45. Quadrotor Dynamics: Yaw

46. Quadrotor Dynamics: Yaw

47. Quadrotor Dynamics: Yaw

48. Quadrotor Dynamics: Yaw

49. Quadrotor Dynamics: Yaw

50. Quadrotor Dynamics: Yaw

51. Quadrotor Dynamics: Yaw

52. Quadrotor Dynamics: Yaw

53. Quadrotor Dynamics: Yaw

54. Thrust Dynamics

55. Thrust Dynamics

56. Thrust Dynamics

57. Thrust Dynamics

58. Thrust Dynamics

59. Thrust Dynamics

60. Thrust Dynamics

61. Thrust Dynamics

62. Thrust Dynamics

63. Thrust Dynamics

64. Thrust Dynamics

65. Thrust Dynamics

66. Altitude Control

67. Altitude Control

68. Altitude Control

69. Altitude Control

70. Altitude Control

71. Altitude Control

72. Altitude Control

73. Altitude Control

74. Altitude Control

75. Altitude Control

76. Flying the JAviator

77. Improvements Hardware Software
More sophisticated sonar sensor at 100 Hz
IMU set to 100 Hz to match sonar frequency
Motor signals with Fast PWM at 250 Hz
Software
Controllers extended from PID to PIDD
Acceleration term used for dampening
More complex filtering incorporated

78. The Great Break-Through

79. Thank You!
Questions?